81 citations · 101 across the 13 of their papers we have counts for
4 papers · 1 filter
Experimental Implementation of an Adaptive Digital Autopilot
Ankit Goel, Juan Augusto Paredes, Harshil Dadhaniya +4
This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot c…
Adaptive Digital PID Control of a Quadcopter with Unknown Dynamics
Ankit Goel, Abdulazeez Mohammed Salim, Ahmad Ansari +2
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward control…
Recursive Least Squares with Variable-Direction Forgetting -- Compensating for the loss of persistency
Ankit Goel, Adam L. Bruce, Dennis S. Bernstein
Learning depends on the ability to acquire and assimilate new information. This ability depends---somewhat counterintuitively---on the ability to forget. In particular, effective f…
Convergence and Consistency of Recursive Least Squares with Variable-Rate Forgetting
Adam L. Bruce, Ankit Goel, Dennis S. Bernstein
A recursive least squares algorithm with variable rate forgetting (VRF) is derived by minimizing a quadratic cost function.Under persistent excitation and boundedness of the forget…